ESO has better stories, and a larger map.
It's also a very fun MMO generally, and it feels like the Elder scrolls universe (but gameplay is different from other TES games).
I also found it easier to play co-op with my brother than with destiny. Destiny is probably better if you enjoy pvp though.
Subscription (besides xbox live) is not necessary btw, although there is an optional one for monthly premium currency (for vanity things/time-saving mostly) and free access to all dlc (first one is out now, or soon?).